IMU Calibration via Camera-Target Position and Orientation
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Solution Overview
Problem
Current methods for calibrating inertial measurement units (IMUs) are costly, not mobile, and require expensive calibration devices, limiting their accessibility and accuracy, especially when external sources for orientation and position are not available.
Innovation Solution
Calibrating IMUs by rigidly connecting them to a sensing device, such as a camera or depth sensor, which captures images of calibration targets from different locations and orientations, allowing for the calculation of expected target locations and adjustment of calibration parameters to reduce errors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional calibration devices are used to calibrate IMU, then measurement precision is improved, but device complexity and cost increase
Solution Approach 1:
The patent introduces an intermediary computing device that acts as a mediator between the IMU and the calibration process. This computing device receives sensor data from the IMU, performs calibration calculations, and outputs calibrated data, thereby simplifying the overall calibration system while maintaining measurement precision
Solution Approach 2:
The system enables self-service calibration by allowing the IMU to be calibrated using its own sensor data and the computing device's processing capabilities. The calibration process does not require external specialized equipment, as the system uses readily available sensors and computational resources to perform calibration autonomously
2Measurement precision
If external calibration devices are used, then calibration accuracy is improved, but ease of operation deteriorates
Solution Approach 1:
The computing device serves multiple functions: it processes IMU sensor data, performs calibration calculations, and outputs calibrated results. This multi-functional approach eliminates the need for specialized calibration equipment, making the system easier to operate while maintaining calibration accuracy
Solution Approach 2:
The system enables users to perform calibration themselves using the computing device and IMU without requiring external calibration specialists or expensive equipment. The self-service capability improves ease of operation while maintaining acceptable calibration accuracy through algorithmic processing
3Manufacturing precision
If costly calibration devices are used, then manufacturing precision is improved, but ease of manufacture deteriorates
Solution Approach 1:
The patent replaces expensive, complex calibration devices with a computing device that uses standard sensors and software algorithms. This substitution maintains calibration quality while dramatically reducing manufacturing costs and simplifying implementation, as computing devices and sensors are readily available and easier to manufacture
Solution Approach 2:
The system replaces mechanical calibration devices with a software-based calibration approach running on a computing device. This substitution eliminates complex mechanical components, reducing manufacturing difficulty while maintaining calibration precision through computational algorithms
Data Source
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AI summary
A method and a system for calibrating an inertial measurement unit (IMU) via images of a calibration target are provided herein. The method may include: measuring parameters via an IMU; capturing a plurality of calibration images of a scene that contains at least one calibration target, wherein the calibration images are taken from different locations and/or orientations, wherein each of the calibration images shares a common calibration target with at least one other calibration image; calculating, based on the at least one common calibration target, a position and orientation of the sensing device relative to the calibration target, for each location of the capturing of the calibration images; and calibrating the IMU by comparing relative motion between two of the calibration images based on the calculated relative position and orientation, to measurements of the parameters taken by the IMU in time ranges corresponding to the at least two calibration images.